CiA Draft Standard Proposal 417-2 CANopen Application Profile for Lift Control Systems Part 2: Virtual device definitions This is a draft standard proposal and may be changed without notification. Version 1.0.1 July 15, 2003 CAN in Automation (CiA) e. V.
HISTORY Date Changes 2003-02-26 added objects with their appropriate input and output description 2003-04-10 added objects with their appropriate input and output description 2003-04-14 wording corrected 2003-04-19 final preperation 2003-05-15 change version numbering ii
CONTENTS 1 SCOPE... 4 2 NORMATIVE REFERENCES... 4 3 DEFINITIONS, ACRONYMS AND ABBREVIATIONS... 4 4 VIRTUAL DEVICE DEFINITIONS... 4 4.1 Introduction... 4 4.2 Call controller... 4 4.3 Input panel unit... 5 4.4 Output panel unit... 5 4.5 Car door controller... 6 4.6 Car door unit... 6 4.7 Light barrier unit... 6 4.8 Car position unit... 7 4.9 Car drive controller... 7 4.10 Car drive unit... 8 4.11 Load measuring unit... 9 4.12 Sensor unit... 10 iii
1 Scope This part of the application profile defines the virtual devices and the assignment of application objects that are supported by a particular virtual device. 2 Normative references The normative references given in part 1 one shall apply also for part 2. 3 Definitions, acronyms and abbreviations The definitions, acronyms and abbreviations given in part 1 shall also apply for part 2. 4 Virtual device definitions 4.1 Introduction A physical CANopen device compliant to this application profile consists of one or more virtual devices. A virtual device shall not be distributed to several physical devices. Each virtual device supports a set of mandatory application objects and may implement additionally a variable set of optional application objects. Physical devices will not be defined, because they may implement multiple functions. The virtual device implements different application objects, some shall be supported (Mandatory) and some may be supported (Optional). In the virtual device description, there is defined the access attribute indicating if an application object is read only (ro), read/write (rw) or write only (wo). Read only indicates that this shall not be written via the bus; read/write allows to read and to write this object; and write only means that this application object shall be not read via the bus. 4.2 Call controller The call controller virtual device receives all call requests from the panel virtual devices, and transmits the corresponding acknowledgements to the panel virtual devices. In addition, the call controller sends commands to the car drive controller to move the car and the car door controller to control the doors. When the call controller, the car drive controller, and the car door controller are implemented on the very same physical device, the communication between these virtual devices may be handled locally. 6001 h Lift number M rw 6010 h Virtual input mapping M rw 6011 h Virtual output mapping M ro 6012 h Virtual sensor mapping O rw 6302 h Door position O rw 6383 h Position value M rw 6390 h Speed value car O rw 6391 h Acceleration value car O rw 4
4.3 Input panel unit The input panel unit virtual device may be installed as in-car call panel or as floor call panel. The panel virtual device transmits user requests. 6100 h Input group 1 M ro 6101 h Input group 2 O ro ::::: :::::: ::::: ::::: 611F h Input group 32 O ro 6120 h Parameter 1 group 1 M rw 6121 h Parameter 1 group 2 O rw 613F h Parameter 1 group 32 O rw 6140 h Parameter 2 group 1 M rw 6141 h Parameter 2 group 2 O rw 615F h Parameter 2 group 32 O rw 6160 h Parameter 3 group 1 M rw 6161 h Parameter 3 group 2 O rw 617F h Parameter 3 group 32 O rw 6180 h Parameter 4 group 32 O rw 619F h Parameter 4 group 32 O rw 4.4 Output panel unit The output display unit virtual device may be installed as in-car panel or as floor panel. The output panel unit can be a display device that shows car position as well as direction and may announce acoustically the incoming car as well as the input panel that receives the acknowledgements for its call requests. 6200 h Output group 1 M rw 6201 h Output group 2 O rw 621F h Output group 32 O rw 6220 h Parameter 1 group 1 M rw 6221 h Parameter 1 group 2 O rw 623F h Parameter 1 group 32 O rw 6240 h Parameter 2 group 1 M rw 6241 h Parameter 2 group 2 O rw 5
625F h Parameter 2 group 32 O rw 6260 h Parameter 3 group 1 M rw 6261 h Parameter 3 group 2 O rw 627F h Parameter 3 group 32 O rw 6280 h Parameter 4 group 1 M rw 6281 h Parameter 4 group 2 O rw 629F h Parameter 4 group 32 O rw 4.5 Car door controller The car door controller virtual device transmits commands to the car door unit virtual device and receives status information from the car door unit virtual device and light barrier unit. 6300 h Door controlword M ro 6301 h Door statusword M rw 6302 h Door position O rw 6310 h Light barrier status O rw 4.6 Car door unit The car door unit virtual device opens and closes the car door. 6300 h Door controlword M rw 6301 h Door statusword M ro 6302 h Door position O ro 6303 h Door configuration M rw 6310 h Ligth barrier status O rw 4.7 Light barrier unit The light barrier unit virtual device detects subjects and objects entering the protected area of the car door unit. 6310 h Ligth barrier status M ro 6
4.8 Car position unit The car position unit virtual device measures the actual position of the car and may additional values like speed and acceleration mainly required by the car drive controller. 6380 h Operating parameter M rw 6381 h Measuring units per revolution O rw 6382 h Preset value O rw 6383 h Position value M ro 6384 h Encoder measuring step settings O rw 6390 h Speed value car O ro 6391 h Acceleration value car O ro 63A0 h CAM state register O ro 63A1 h CAM enable register O rw 63A2 h CAM polarity register O rw 63B0 h Area state register O ro 63B1 h Work area lowlimit O rw 63B2 h Work area highlimit O rw 63C0 h Operating status M ro 63C1 h Single turn resolution M ro 63C2 h Number of distinguishable revolutions M ro 63C3 h Alarms and warnings O ro 63C4 h Supported alarms and warnings O ro 63C8 h Operating time O ro 63C9 h Offset value O ro 63CF h Module identification O ro 4.9 Car drive controller The car drive controller virtual device transmits commands to the car drive unit virtual device and receives status information from the car drive unit virtual device, car position unit, and load measuring unit. 6302 h Door position O rw 6383 h Position value M rw 6390 h Speed value car O rw 6391 h Acceleration value car O rw 6400 h Controlword M ro 6401 h Statusword M rw 7
6406 h Control effort O rw 6420 h Target position O ro 6430 h Target velocity O ro 6433 h Velocity actual value O rw 6480 h Load value O rw 6482 h Load signaling O rw 4.10 Car drive unit The car drive unit virtual device moves the car. 6383 h Position value M rw 6400 h Controlword M rw 6401 h Statusword M ro 6402h Control option codes O rw 6403 h Modes of operation M rw 6404 h Modes of operation display M ro 6405 h Motion profile type M rw 6406 h Control effort O ro 6408 h Max velocity and speed O - 6409 h Max acceleration and deceleration M rw 640C h Quick stop deceleration M rw 640B h Profile acceleration and deceleration O rw 640C h Profile jerk use O rw 640D h Profile jerk O rw 640F h Motor data O ro 6410 h Position dimension O rw 6411 h Velocity dimension O rw 6412 h Acceleration dimension O rw 6413 h Jerk dimension O rw 6414 h Position encoder resolution O rw 6415 h Velocity encoder resolution O rw 6416 h Gear ratio O rw 6417 h Feed constant O rw 6418 h Position factor O rw 6419 h Velocity encoder factor O rw 641A h Velocity factor 1 O rw 641B h Velocity factor 2 O rw 8
641C h Acceleration factor O rw 641D h Jerk factor O rw 641E h Polarity O rw 6420 h Target position O rw 6421 h Position range limit O rw 6422 h Software position limit O rw 6423 h Profile velocity O rw 6424 h End velocity O rw 6428 h Home offset O rw 6429 h Home method O rw 642A h Homing speed O rw 642B h Homing acceleration O rw 6430 h Target velocity O rw 6431 h Velocity sensor actual value O ro 6432 h Velocity demand value O ro 6433 h Velocity actual value O ro 6434 h Sensor selection code O rw 6435 h Velocity window O rw 6436 h Velocity threshold O rw 6437 h Max slippage O rw 6438 h Velocity control parameter set O rw 6480 h Load value O rw 6482 h Load signaling O rw 4.11 Load measuring unit The load measuring unit virtual device detects the load of the car and signals certain situations like normal load, full load, and overload. 6480 h Load value M - 6481 h Load limits M rw 6482 h Load signaling M - 6483 h Load signaling limits M rw 6484 h Rope load O ro 6485 h Load measuring system configuration M rw 9
4.12 Sensor unit The sensor unit virtual device detects certain sensor values and signals that like smoke detectors or glas detectes. 6500 h Sensor group 1 M ro 6501 h Sensor group 2 O ro ::::: :::::: ::::: ::::: 651F h Sensor group 32 O ro 6520 h Sensor parameter 1 group 1 M rw 6521 h Sensor parameter 1 group 2 O rw 653F h Sensor parameter 1 group 32 O rw 6540 h Sensor parameter 2 group 1 M rw 6541 h Sensor parameter 2 group 2 O rw 655F h Sensor parameter 2 group 32 O rw 6560 h Sensor parameter 3 group 1 M rw 6561 h Sensor parameter 3 group 2 O rw 657F h Sensor parameter 3 group 32 O rw 10